EP2140285B1 - Verfahren zum verarbeiten von funknavigationssignalen - Google Patents
Verfahren zum verarbeiten von funknavigationssignalen Download PDFInfo
- Publication number
- EP2140285B1 EP2140285B1 EP08735573A EP08735573A EP2140285B1 EP 2140285 B1 EP2140285 B1 EP 2140285B1 EP 08735573 A EP08735573 A EP 08735573A EP 08735573 A EP08735573 A EP 08735573A EP 2140285 B1 EP2140285 B1 EP 2140285B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- satellite
- value
- phase
- radionavigation
- differentiated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012545 processing Methods 0.000 title claims description 5
- 238000005259 measurement Methods 0.000 claims abstract description 78
- 238000001914 filtration Methods 0.000 claims description 14
- 230000001427 coherent effect Effects 0.000 claims description 2
- 210000004279 orbit Anatomy 0.000 description 22
- 230000001934 delay Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 7
- 230000004069 differentiation Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 150000003278 haem Chemical class 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 241001080024 Telles Species 0.000 description 1
- 241000897276 Termes Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 235000021183 entrée Nutrition 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
Definitions
- the present invention relates to the field of radionavigation or satellite positioning systems, in particular a method for processing the radionavigation signals emitted by satellites of such a system.
- Satellite positioning systems such as Global Positioning System (GPS), Galileo, GLONASS, QZSS, Compass, IRNSS and others use modulated radionavigation signals called "spread spectrum". These signals essentially convey pseudorandom codes formed of periodically repeating digital sequences, the main function of which is to allow a code division multiple access (CDMA) and the provision of a measurement of the propagation time of the signal transmitted by the satellite.
- CDMA code division multiple access
- the radionavigation signals may also carry a payload.
- the radionavigation signals are formed by modulation of the central frequencies (carriers).
- the radionavigation signals are transmitted in the L1 frequency bands, centered on 1575.42 MHz and L2, centered on 1227.6 MHz.
- the L5 band centered on 1176.45 MHz will be added.
- the satellites of the Galileo constellation will transmit in the E2-L1-E1 band (the middle band portion L1 being the same as that of the GPS), E5a (which, according to the Galileo nomenclature, represents the L5 band provided for the GPS), E5b (centered on 1207.14 MHz) and E6 (centered on 1278.75 MHz).
- Basic measurements that a receiver can perform include code measurements and carrier phase measurements. These elementary measures can obviously be combined with each other.
- the Code measurements are metrically accurate while phase measurements are accurate to a few mm.
- the phase measurements have the disadvantage that they deliver only the real part of the phase difference of the carrier between the transmission by the satellite and the receiver. Phase measurements are therefore ambiguous in the sense that the number of entire cycles between the satellite and the receiver are unknown at the outset. In order to benefit from the accuracy of phase measurements, a receiver must resolve the ambiguities with which they are tainted.
- phase ambiguities are commonly done by differentiating phase measurements (single or double differentiation).
- a method using simple differences between satellites is described, for example, in the article "GPS carrier phase ambiguity resolution using satellite-satellite single differences" by MJ Gabor and RS Nerem, ION GPS '99, September 14-17, 1999, Nashville, TN .
- the differentiation makes it possible to eliminate the causes of error (not modeled) common to several measurements, and thus makes it possible to reveal an entire piece of information, whose taking into account further improves the performances. However, this entire information consists of differences of one or more elementary phase ambiguities and generally does not allow to go back to elementary phase ambiguities.
- the invention allows a receiver to find the unambiguous phase value (s) autonomously, ie without necessarily using one or more measurement differentiations on a local or global network.
- the invention comprises two parts. On the one hand, it includes a process taking place in a network of stations reference system in which additional information is determined by which a non-network user receiver can resolve phase ambiguities. On the other hand, the invention comprises the method taking place at the non-network receiver which uses the additional information elaborated by the reference station network and made available by any communication channel.
- a first aspect of the invention concerns the determination, at a network of stations (reference receivers), comprising at least one station, a satellite delay corresponding to a clock offset and / or an inter-frequency bias. and / or a difference in phase centers of the respective uncompensated frequencies (s), on the satellite, between the code and the phase of a radionavigation signal.
- a constellation of radionavigation satellites is presupposed in the following, the satellites of which each emit at least two radionavigation signals in two distinct frequency bands. Each satellite therefore broadcasts at least one first radionavigation signal on a first frequency and a second radionavigation signal on a second frequency distinct from the first.
- Each station from which a satellite is visible i.e.
- the code and phase measurements discussed here are non-differentiated measures (ie, differentiated between stations and between satellites).
- the internal delays of satellites influence the measurements of several receivers in the same way and thus disappear by differentiation of measurements between two receivers. Methods based on measurement differentiation do not therefore require knowledge of the internal satellite delay (s).
- the method according to the invention using non-differentiated measurements, proposes precisely to determine the internal satellite delay.
- the internal satellite delay and the integer value of the widelane phase ambiguity are determined for each available satellite / station combination (for a given date, the satellites are not all visible from each station), starting from code and phase measurements performed for each of the first and second signals from the respective satellite using the respective reference receiver. This is done consistently at the reference network so that we obtain a set of satellite delays and station delays consistent with each other.
- a second aspect of the invention concerns the determination of precise satellite clocks at the reference network.
- the first and second radionavigation signals are received at the stations, a non-differentiated code measurement and a non-differentiated phase measurement are carried out for each of the first and second received signals and a value is determined.
- satellite clock from non-differentiated code measurements, non-differentiated phase measurements, one or more integer values of widelane ambiguity as well as a modeling of the propagation distance between the satellite and the reference receiver (s).
- To determine the integer values of the widelane ambiguity we obtain the internal delays of the satellites or we calculate them as indicated above, and then we deduce from the raw measurements of the ambiguity widelane the integer values using internal satellite delays.
- the modeling of the propagation distance can involve, among other things, the precise orbit of the satellite, the tropospheric elongation, the position of the station taking into account the tides, etc. Precise orbits can be given as input if such orbits are available. Alternatively, precise orbits can be estimated during filtering.
- the values of the satellite clocks and, where appropriate, the precise orbits of the satellites of a constellation are preferably estimated by filtering from a set of code and phase measurements on a set of stations (typically 50 stations). .
- the modeling parameters adjusted during such a filtering are the transmitting and receiving clocks at each time step, a slowly variable tropospheric bias on the day per station, and the ambiguities narrowlane (a parameter identified by passing).
- the determination of a clock value preferably comprises the estimation of parameters of the propagation distance modeling (such as, for example, the precise orbit of the satellite concerned) using the non-differentiated code measurements, non-differentiated phase measurements and one or more integer values of the widelane ambiguity and then estimating the clock value from the estimated parameters.
- Satellite delays as well as clocks and possibly also precise satellite orbits can be broadcast (either encrypted or unencrypted) to user receivers by any suitable means, eg terrestrial broadcasting, satellite broadcasting (e.g. eg from SBAS satellites or radionavigation satellites themselves if the system has a signal containing data), by a mobile telephony channel (eg from a telephone relay), via the internet, pseudolites, WIFI, bluetooth, etc.
- satellite delays remain essentially constant over time. They can therefore be stored in a database inside the receiver which gets them from this database if needed.
- Precise orbits and satellite clocks are data that vary with each time step and are therefore preferably broadcast in real time.
- the invention further relates to the method that takes place at any receiver (eg, end-user receiver or network station receiver).
- the receiver receives the first and second radio navigation signals and performs, for each of the first and second received signals, an undifferentiated code measurement and a non-differentiated phase measurement. It then calculates a raw value of the widelane phase ambiguity from non-differentiated code measurements and non-differentiated phase measurements and provides an internal satellite delay for the satellite in question. From the raw value and the internal satellite delay, it then determines an integer value of widelane ambiguity.
- the latter obtains an accurate orbit value and a satellite clock value for the satellite and estimates by filtering, from the non-differentiated measurements of code, non-differentiated phase measurements of the integer value of the widelane ambiguity, the orbit value, the satellite clock value as well as a modeling of the propagation distance between the satellite and the satellite. receiver, an integer value of a narrowlane ambiguity.
- the internal satellite delay can be obtained from a database internal or external to the receiver or from a message (encrypted or unencrypted) broadcast by an SBAS satellite or sent by a radiotelephone network or broadcast by terrestrial broadcasting or by any other suitable means of communication, eg ex. the means mentioned above.
- Precise satellite orbits and satellite clocks are preferably extracted from a message broadcast by an SBAS satellite or sent by a radiotelephone network or broadcast by terrestrial broadcasting or by any other suitable means of communication.
- eP P 1 - P 2 1 - ⁇ .
- raw values ⁇ w of the ambiguity are determined from the non-differentiated phase and code measurements.
- the raw values ⁇ w are evaluated using an estimator on a passage or part of a passage to reduce the noise, which provides an estimated gross value, denoted ⁇ ⁇ w >.
- the estimator can be, for example, an average, a median, or a robust estimator with possible rejection of outliers.
- At least one ambiguity (N 1 or N 2 ) remains unknown.
- the P 1 and P 2 code measurements depend on several parameters including the geometrical distance between the emission and reception points, the ionospheric effects, the tropospheric effects as well as the transmitter and receiver clocks. To identify the remaining ambiguities, it is necessary to have a sufficiently accurate modeling of these quantities, which will require a global resolution on the network of receivers to be processed, because of the clocks.
- N 1 is away from the true value of N 1 by about ten cycles because of the measurement noise on the code.
- the value of ⁇ N 1 will be identified by the global filtering.
- the filter can be in least squares formulation or Kalman formulation, more compatible with a real-time treatment.
- the input values used by the filter are the non-differentiated values of iono-free code and iono-free phase, with their respective noises, which are of the order of 1 m for the code and 1 cm for the phase .
- This filtering step is primarily used to properly calculate the term D (geometric modeling).
- D geometric modeling
- the clocks identified at this stage are subsequently used as initial values, which later makes it possible to work on small variations of clocks, but this is not essential.
- Adding a station is done as follows. With the game h eme known before the addition of the station are calculated ⁇ residues N 1 + h rec / ⁇ c to be expressed as an integer value by passing (the ⁇ N 1), and a real at each time step (corresponding to the clock h rec of the added station).
- the Fig. 2 shows the residuals ⁇ N 1 + h rec / ⁇ c for a newly added station. Note that the residuals are spaced from integer values and their offset from the nearest integer value is identical. It can therefore be posited that the difference between the residual and the closest integer value corresponds to h rec / ⁇ c and the integer value itself to ⁇ N 1 .
- the method of identifying h eme described in this section operates in real time, but one skilled in the art can implement equivalent device operating in real time. Eg by identifying an entire ambiguity at each arrival of a new passage, by collecting enough measurements of this passage and assuming that the solution satellite clocks is itself complete, the entire value of the ambiguity would appear directly in the measurement residues.
- any receiver if it knows the ⁇ eme visible satellites solve ambiguities widelane.
- the receiver performs non-differentiated code and phase measurements, and thus finds raw values of widelane ambiguity (shown in FIG. Fig. 1 ).
- the receiver can obtain the values of the ⁇ eme in any way. For example, he could download them from an external database (eg from a website).
- the average or median value for each passage of the residue is brought around a same value (not necessarily entire) common to all the passages (0.7 in the illustrated case). The fractional part of this common value thus gives ⁇ rec , while the integer part gives the whole widelane ambiguity N w .
- the receiver needs to know the satellite clocks as well as precise orbits for a certain observation time (the precise orbits come into the modeling of D).
- these satellite clocks and / or precise orbits are broadcast by terrestrial broadcasting or from a Satellite-Based Augmentation System (SBAS) satellite.
- SBAS Satellite-Based Augmentation System
- the receiver determines by filtering the value of D, on the basis of a model similar to that mentioned above. During this step of calculating D, it is generally necessary for the receiver to remain stationary.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Claims (15)
- Verfahren zum Verarbeiten von Funknavigationssignalen, die von einem Satelliten einer Funknavigationssatellitenkonstellation kommen, wobei der Satellit mindestens ein erstes Funknavigationssignal auf einer ersten Frequenz und ein zweites Funknavigationssignal auf einer zweiten, von der ersten verschiedenen Frequenz überträgt, bei welchem Verfahren an einem Referenznetz, das mindestens einen Referenzempfänger umfasst, von dem aus der Satellit sichtbar ist, eine interne Verzögerung des Satelliten und ein ganzzahliger Wert der Widelane-Ambiguität für den Referenzempfänger bestimmt werden, wobei diese Bestimmung der internen Satellitenverzögerung und des ganzzahligen Wertes der Widelane-Ambiguität folgende Schritte umfasst:Empfang des ersten und zweiten Funknavigationssignals am Referenzempfänger;Durchführung einer nicht differenzierten Codemessung und einer nicht differenzierten Phasenmessung mit Hilfe des Referenzempfängers und für jedes der ersten und zweiten empfangenen Signale;Berechnung des Bruttowertes der Widelane-Phasenambiguität aus den nicht differenzierten Codemessungen und den nicht differenzierten Phasenmessungen;Bestimmung der internen Satellitenverzögerung sowie des ganzzahligen Wertes der Widelane-Phasenambiguität auf Basis des Bruttowertes für den Referenzempfänger.
- Verfahren nach Anspruch 1, wobei das Referenznetz eine Vielzahl von Referenzempfängern umfasst, von denen aus jeweils eine Vielzahl von Satelliten der Satellitenkonstellation sichtbar ist, wobei jeder dieser Satelliten mindestens ein erstes Funknavigationssignal auf der ersten Frequenz und ein zweites Funknavigationssignal auf der zweiten Frequenz überträgt, bei welchem Verfahren für jede verfügbare Satellit/Referenzempfänger-Kombination in kohärenter Weise an dem Referenznetz eine interne Satellitenverzögerung und ein ganzzahliger Widelane-Ambiguitätswert auf Basis eines Bruttowertes der Widelane-Ambiguität bestimmt werden, welcher aus Code- und Phasenmessungen, die für jedes der von dem jeweiligen Satelliten kommenden ersten und zweiten Signale durchgeführt werden, mit Hilfe des jeweiligen Referenzempfängers berechnet wird
- Verfahren nach Anspruch 1 oder 2, umfassend den Schritt der Übertragung der bestimmten internen Satellitenverzögerung.
- Verfahren zum Verarbeiten von Funknavigationssignalen, die von einem Satelliten einer Funknavigationssatellitenkonstellation kommen, wobei der Satellit mindestens ein erstes Funknavigationssignal auf einer ersten Frequenz und ein zweites Funknavigationssignal auf einer zweiten, von der ersten verschiedenen Frequenz überträgt, welches Verfahren an einem Referenznetz, das einen oder mehrere Referenzempfänger umfasst, von denen aus der Satellit sichtbar ist, folgende Schritte umfasst:Empfang des ersten und zweiten Funknavigationssignals an dem oder den Referenzempfängern;Durchführung einer nicht differenzierten Codemessung und einer nicht differenzierten Phasenmessung mit Hilfe des oder der Referenzempfänger und für jedes der ersten und zweiten empfangenen Signale;Bestimmung eines Taktwertes des Satelliten aus den nicht differenzierten Codemessungen, den nicht differenzierten Phasenmessungen, einem oder mehreren ganzzahligen Werten der Widelane-Ambiguität sowie einer Modellierung der Ausbreitungsdistanz zwischen dem Satelliten und dem oder den Referenzempfängern.
- Verfahren nach Anspruch 4, bei dem der Schritt der Bestimmung des Taktwertes folgende Schritte umfasst:Beschaffung einer internen Satellitenverzögerung für den Satelliten;undBestimmung eines ganzzahligen Wertes der Widelane-Ambiguität auf Basis des Bruttowertes und der internen Satellitenverzögerung.
- Verfahren nach Anspruch 4 oder 5, bei dem der Schritt der Bestimmung des Taktwertes die Schätzung von Parametern der Modellierung der Ausbreitungsdistanz aus den Codemessungen, den Phasenmessungen und einem oder mehreren ganzzahligen Werten der Wideline-Ambiguität und sodann die Schätzung des Taktwertes aus den geschätzten Parametern umfasst
- Verfahren nach Anspruch 6, bei dem die Schätzung von Parametern der Modellierung der Ausbreitungsdistanz die Bestimmung einer präzisen Umlaufbahn für den Satelliten einschließt
- Verfahren nach irgendeinem der Ansprüche 4 bis 7, umfassend den Schritt der Übertragung des bestimmten Satellitentaktwertes
- Verfahren nach Anspruch 7, umfassend den Schritt der Übertragung der bestimmten präzisen Umlaufbahn
- Verfahren zum Verarbeiten von Funknavigationssignalen, die von einem Satelliten einer Funknavigationssatellitenkonstellation kommen, wobei der Satellit mindestens ein erstes Funknavigationssignal auf einer ersten Frequenz und ein zweites Funknavigationssignal auf einer zweiten, von der ersten verschiedenen Frequenz überträgt, welches Verfahren an einem Empfänger, von dem aus der Satellit sichtbar ist, folgende Schritte umfasst:Empfang des ersten und zweiten Funknavigationssignals;Durchführung einer nicht differenzierten Codemessung und einer nicht differenzierten Phasenmessung für jedes der ersten und zweiten empfangenen Signale;Berechnung eines Bruttowertes der Widelane-Phasenambiguität aus den nicht differenzierten Codemessungen und den nicht differenzierten Phasenmessungen;Beschaffung einer internen Satellitenverzögerung für den Satelliten; undBestimmung eines ganzzahligen Wertes der Widelane-Ambiguität auf Basis des Bruttowertes und der internen Satellitenverzögerung.
- Verfahren nach Anspruch 10, bei dem die interne Satellitenverzögerung aus einer Datenbank geliefert wird.
- Verfahren nach Anspruch 10, bei dem die interne Satellitenverzögerung aus einer Nachricht ausgelesen wird, die von einem SBAS-Satelliten übertragen oder von einem Sprechfunknetz ausgesendet oder durch terrestrische Übertragung übertragen wird
- Verfahren nach irgendeinem der Ansprüche 10 bis 12, umfassend folgende Schritte:Beschaffung eines Bahnwertes und eines Taktwertes für den Satelliten;Schätzung mittels Filterung eines ganzzahligen Wertes einer Narrowlane-Ambiguität aus den nicht differenzierten Codemessungen, den nicht differenzierten Phasenmessungen, dem ganzzahligen Wert der Widelane-Ambiguität, dem Bahnwert, dem Taktwert sowie einer Modellierung der Ausbreitungsdistanz zwischen dem Satelliten und dem Empfänger
- Verfahren nach Anspruch 13, bei dem der Bahnwert und der Taktwert aus einer Datenbank geliefert werden.
- Verfahren nach Anspruch 13, bei dem der Bahnwert und der Taktwert aus einer Nachricht ausgelesen werden, die von einem SBAS-Satelliten übertragen oder von einem Sprechfunknetz ausgesendet oder durch terrestrische Übertragung übertragen wird
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0754139A FR2914430B1 (fr) | 2007-03-29 | 2007-03-29 | Procede de traitement de signaux de radionavigation. |
PCT/EP2008/053745 WO2008125458A1 (fr) | 2007-03-29 | 2008-03-28 | Procédé de traitement de signaux de radionavigation |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2140285A1 EP2140285A1 (de) | 2010-01-06 |
EP2140285B1 true EP2140285B1 (de) | 2011-07-13 |
Family
ID=38698807
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08735573A Active EP2140285B1 (de) | 2007-03-29 | 2008-03-28 | Verfahren zum verarbeiten von funknavigationssignalen |
Country Status (11)
Country | Link |
---|---|
US (1) | US8089397B2 (de) |
EP (1) | EP2140285B1 (de) |
JP (2) | JP2010522874A (de) |
KR (1) | KR101360918B1 (de) |
CN (1) | CN101657735B (de) |
AT (1) | ATE516510T1 (de) |
AU (1) | AU2008238113B2 (de) |
CA (1) | CA2682278C (de) |
FR (1) | FR2914430B1 (de) |
RU (1) | RU2439616C2 (de) |
WO (1) | WO2008125458A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10732295B2 (en) | 2014-07-17 | 2020-08-04 | Centre National D'etudes Spatiales | Positioning and navigation receiver with a confidence index |
US10739471B2 (en) | 2015-06-24 | 2020-08-11 | Centre National D'etudes Spatiales | GNSS receiver with a capability to resolve ambiguities using an uncombined formulation |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2943138B1 (fr) * | 2009-03-13 | 2013-03-08 | Centre Nat Etd Spatiales | Procede de geopositionnement utilisant des donnees d'assistance |
EP2333581A1 (de) * | 2009-12-09 | 2011-06-15 | Technische Universität München | Schätzung von Phasen- und Codeverschiebungen auf mehreren Frequenzen mit einem Kalmanfilter |
KR101327326B1 (ko) | 2013-05-07 | 2013-11-11 | 국방과학연구소 | 경로 산출 장치 및 방법 |
FR3011436B1 (fr) * | 2013-10-04 | 2015-12-11 | Centre Nat Etd Spatiales | Machine agricole de revisite d'une parcelle plantee ; procede associe. |
EP2930535A1 (de) * | 2014-04-08 | 2015-10-14 | The European Union, represented by the European Commission | Verfahren und System zum Optimieren der Authentifizierung von Funknavigationssignalen |
FR3030057B1 (fr) * | 2014-12-12 | 2017-01-27 | Thales Sa | Procede et systeme de validation de geolocalisation par satellite |
EP3093616A1 (de) | 2015-05-13 | 2016-11-16 | Centre National d'Etudes Spatiales | Vorrichtung und verfahren zur bestimmung charakteristischer punkte |
US10564293B2 (en) * | 2016-03-18 | 2020-02-18 | Deere & Company | Navigation satellite orbit and low latency clock determination with wide-lane and narrow-lane bias corrections |
US10338232B2 (en) * | 2016-03-18 | 2019-07-02 | Deere & Company | Navigation satellite wide-lane bias determination system and method |
US10191157B2 (en) * | 2016-03-18 | 2019-01-29 | Deere & Company | Precise low-latency GNSS satellite clock estimation |
US10386496B2 (en) | 2016-03-18 | 2019-08-20 | Deere & Company | Navigation satellite orbit and clock determination with low latency clock corrections |
US10012738B2 (en) * | 2016-03-24 | 2018-07-03 | Hitachi Zosen Corporation | Positioning method and positioning apparatus using satellite positioning system |
EP3273607B1 (de) * | 2016-07-20 | 2023-01-18 | Semtech Corporation | Verfahren und system zur taktung und lokalisierung eines funksignals |
EP3349044A1 (de) * | 2017-01-11 | 2018-07-18 | The European Union, represented by the European Commission | Verfahren und system zur funknavigationsauthentifizierung |
EP3887862A1 (de) * | 2018-11-30 | 2021-10-06 | Harman Becker Automotive Systems GmbH | Phasenmittenausgleich für hochpräzise gnss-antennen |
CN113253312B (zh) * | 2021-04-06 | 2024-02-06 | 探索数据科技(深圳)有限公司 | 联合卫星导航方法、***、电子设备及存储介质 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5148179A (en) * | 1991-06-27 | 1992-09-15 | Trimble Navigation | Differential position determination using satellites |
US5736961A (en) * | 1995-10-06 | 1998-04-07 | Novatel, Inc. | Dual Frequency global positioning system |
US6172639B1 (en) * | 1998-04-30 | 2001-01-09 | Mcdonald Keith D. | Signal structure and processing technique for providing highly precise position, velocity, time and attitude information with particular application to navigation satellite systems including GPS |
KR100558115B1 (ko) * | 1999-12-24 | 2006-03-10 | 한국전자통신연구원 | 등가 위상 측정 방법을 이용한 위성거리 측정 장치 및 방법 |
US6525688B2 (en) * | 2000-12-04 | 2003-02-25 | Enuvis, Inc. | Location-determination method and apparatus |
JP3598372B2 (ja) * | 2001-08-02 | 2004-12-08 | 独立行政法人情報通信研究機構 | 測位用衛星受信機バイアスの測定方法及び装置 |
KR100444380B1 (ko) * | 2002-01-23 | 2004-08-16 | 재단법인서울대학교산학협력재단 | 위성항법-정밀측위를 위한 보정정보 생성 및 송수신 방법 |
JP2004125667A (ja) * | 2002-10-03 | 2004-04-22 | Matsushita Electric Ind Co Ltd | 測位装置 |
FR2849209B1 (fr) * | 2002-12-19 | 2007-04-06 | Agence Spatiale Europeenne | Procede et systeme de navigation en temps reel a l'aide de signaux radioelectriques a trois porteuses emis par des satellites et de corrections ionospheriques |
JP2005062046A (ja) * | 2003-08-15 | 2005-03-10 | Kasai Design Office:Kk | 人工衛星の位置推定システム |
JP4723801B2 (ja) * | 2003-08-25 | 2011-07-13 | 古野電気株式会社 | 相対測位装置 |
US6934632B2 (en) * | 2003-10-08 | 2005-08-23 | Navcom Technology, Inc. | Method for using three GPS frequencies to resolve carrier-phase integer ambiguities |
JP2005321362A (ja) * | 2004-05-11 | 2005-11-17 | Suri Kaiseki Kenkyusho:Kk | 相対測位装置 |
JP2006023144A (ja) * | 2004-07-07 | 2006-01-26 | Nec Corp | 周波数間バイアス算出装置及び方法 |
WO2006022318A1 (ja) * | 2004-08-25 | 2006-03-02 | The Ritsumeikan Trust | 単独測位装置および単独測位方法 |
US7142157B2 (en) * | 2004-09-14 | 2006-11-28 | Sirf Technology, Inc. | Determining position without use of broadcast ephemeris information |
US7433264B2 (en) * | 2005-03-18 | 2008-10-07 | Westerngeco L.L.C. | Methods and systems for determination of vertical correction of observed reflection seismic signals |
US7733269B2 (en) * | 2005-05-09 | 2010-06-08 | Sueo Sugimoto | Positioning apparatus and positioning system |
EP1724605A1 (de) * | 2005-05-18 | 2006-11-22 | Leica Geosystems AG | Positionsbestimmungsverfahren für ein satellitengestütztes Positionierungssystem |
US7633437B2 (en) * | 2006-09-22 | 2009-12-15 | Navcom Technology, Inc. | Method for using three GPS frequencies to resolve whole-cycle carrier-phase ambiguities |
-
2007
- 2007-03-29 FR FR0754139A patent/FR2914430B1/fr not_active Expired - Fee Related
-
2008
- 2008-03-28 EP EP08735573A patent/EP2140285B1/de active Active
- 2008-03-28 AT AT08735573T patent/ATE516510T1/de active
- 2008-03-28 CN CN2008800104982A patent/CN101657735B/zh active Active
- 2008-03-28 CA CA2682278A patent/CA2682278C/fr not_active Expired - Fee Related
- 2008-03-28 WO PCT/EP2008/053745 patent/WO2008125458A1/fr active Application Filing
- 2008-03-28 KR KR1020097021755A patent/KR101360918B1/ko not_active IP Right Cessation
- 2008-03-28 US US12/532,514 patent/US8089397B2/en active Active
- 2008-03-28 RU RU2009139807/07A patent/RU2439616C2/ru not_active IP Right Cessation
- 2008-03-28 AU AU2008238113A patent/AU2008238113B2/en not_active Ceased
- 2008-03-28 JP JP2010500294A patent/JP2010522874A/ja active Pending
-
2015
- 2015-01-09 JP JP2015003087A patent/JP6023225B2/ja not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10732295B2 (en) | 2014-07-17 | 2020-08-04 | Centre National D'etudes Spatiales | Positioning and navigation receiver with a confidence index |
US10739471B2 (en) | 2015-06-24 | 2020-08-11 | Centre National D'etudes Spatiales | GNSS receiver with a capability to resolve ambiguities using an uncombined formulation |
Also Published As
Publication number | Publication date |
---|---|
US8089397B2 (en) | 2012-01-03 |
CN101657735B (zh) | 2013-06-05 |
CN101657735A (zh) | 2010-02-24 |
JP6023225B2 (ja) | 2016-11-09 |
KR20090127425A (ko) | 2009-12-11 |
JP2015092185A (ja) | 2015-05-14 |
ATE516510T1 (de) | 2011-07-15 |
AU2008238113B2 (en) | 2011-09-15 |
RU2439616C2 (ru) | 2012-01-10 |
FR2914430B1 (fr) | 2011-03-04 |
EP2140285A1 (de) | 2010-01-06 |
AU2008238113A1 (en) | 2008-10-23 |
KR101360918B1 (ko) | 2014-02-21 |
CA2682278A1 (fr) | 2008-10-23 |
US20100085252A1 (en) | 2010-04-08 |
RU2009139807A (ru) | 2011-05-10 |
FR2914430A1 (fr) | 2008-10-03 |
JP2010522874A (ja) | 2010-07-08 |
CA2682278C (fr) | 2016-06-28 |
WO2008125458A1 (fr) | 2008-10-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2140285B1 (de) | Verfahren zum verarbeiten von funknavigationssignalen | |
EP2335085B1 (de) | VERARBEITUNG VON FUNKNAVIGATIONSSIGNALEN MIT Hilfe EINER Widelane-KOMBINATION | |
EP2233948B1 (de) | Lageberechnungsverfahren eines GNSS-Empfängers auf Grundlage von Einzel- und Zweifrequenz Pseudomessungen | |
JP2010522874A5 (de) | ||
EP1724608A1 (de) | Übertragung von Informationen zur dreidimensionalen Umgebung eines Handys | |
EP3223038A1 (de) | Satellitenbasiertes geopositionierungsverfahren und das entsprechende endgerät | |
EP2755050A1 (de) | Gerät zum Verfolgen von Navigationssignalen | |
CA2754178C (fr) | Procede de geopositionnement utilisant des donnees d'assistance | |
FR3066027A1 (fr) | Procede de positionnement par gnss | |
WO2021151864A1 (fr) | Procede et systeme de navigation | |
EP1493041B1 (de) | Verfahren und einrichtung zur bestimmung der relativen position zweier punkte |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20091027 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
|
17Q | First examination report despatched |
Effective date: 20100308 |
|
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: FRENCH |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602008008241 Country of ref document: DE Effective date: 20110908 |
|
REG | Reference to a national code |
Ref country code: SE Ref legal event code: TRGR |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: VDEP Effective date: 20110713 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111113 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111114 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111013 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FD4D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111014 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: IE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 |
|
26N | No opposition filed |
Effective date: 20120416 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 602008008241 Country of ref document: DE Effective date: 20120416 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120331 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120331 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111024 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111013 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20110713 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120328 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20080328 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 9 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 10 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20180321 Year of fee payment: 11 Ref country code: SE Payment date: 20180313 Year of fee payment: 11 Ref country code: BE Payment date: 20180223 Year of fee payment: 11 Ref country code: AT Payment date: 20180226 Year of fee payment: 11 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: CL Name of requester: FRANCE BREVETS, FR Effective date: 20180716 |
|
REG | Reference to a national code |
Ref country code: SE Ref legal event code: EUG |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190329 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 516510 Country of ref document: AT Kind code of ref document: T Effective date: 20190328 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20190331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190328 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190331 Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190328 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230526 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20240219 Year of fee payment: 17 Ref country code: GB Payment date: 20240229 Year of fee payment: 17 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20240219 Year of fee payment: 17 |